Bhagavad Gita Verse 56, Chapter 18

sarvakarmaanyapi sadaa kurvaano madvyapaashrayaha |
matprasaadaadavaapnoti shaashvatam padamavyayam || 56 ||
 
Always engaging even in all actions, one who considers me as his refuge, through my grace attains that eternal, imperishable state.
 
sarvakarmaani : all actions
api : even
sadaa : always
kurvaanaha : engaging
madvyapaashrayaha : one to whom I am the refuge
matprasaadaat : through my grace
avaapnoti : attains
shaashvatam : eternal
padam : state
avyayam : imperishable
 
Arjuna, after having heard the final message of the Gita discourse, would probably have had felt quite dejected and sad, like many of us. Unless one gave up all actions, took up a life of a monk, lived in a secluded place and contemplated constantly upon the eternal essence, liberation is not possible. How many of us, who are currently quite entrenched in the world, can see ourselves taking up a path of monkhood? It is next to impossible. We may begin to think that the Gita is not for us.
 
Anticipating this frustration, Shri Krishna brought the discourse back to Arjuna's level, as it were. Arjuna, like us, was not in a state to renounce his actions and retire to a state of monkhood. Shri Krishna reassured Arjuna that liberation is absolutely possible for such people. It is because of one key point. Whether one continues to act in this world, or takes up renunciation, liberation is entirely up to the grace of Ishvara. We can make all the preparations we want to fall asleep, but ultimately, whether or not we fall asleep is not in our hands.
 
So then, having known this, Arjuna, who had temporarily given up hope of attaining the shaashvata avyaya padam, the eternal and imperishable state of liberation, regained his interest in the discourse. Shri Krishna now began winding up the entire Gita, by summarizing its key aspects from a very practical standpoint. The simple practical advice given here is to continue performing our duty, not to worry too much if we inadvertently perform a prohibited action, and to consider Ishvara as the one and only one aashraya, the ultimate refuge.